A hierarchical real-time control architecture for a semi-autonomous underwater vehicle

This paper describes a real-time control architecture for Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV), which has been developed at Korea Research Institute of Ships and Ocean Engineering (KRISO) for being a test-bed of development of underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for six DOF motion control, one 4-function electric manipulator, one ballasting motor, built-in power source, and various sensors. A supervisor control system with GUI and a multi-purpose joystick is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in an ocean engineering basin of KRISO is also presented.     

福建主要港湾水体几种悬浮物质含量的研究

据"福建主要港湾水产养殖容量研究"项目成果,报道了2000～2001年福建15个港湾水体中几种悬浮物质含量的调查资料,讨论了它们的分布状况.这几种悬浮物质含量与养殖生物的生长状况有着密切相关,也是某些生物的营养源,现场调查的结果为计算贝类养殖容量提供了重要参数.     

氧同位素分析在东濮凹陷下第三纪沉积环境中的应用

主要介绍了氧同位素的地球化学特征，并利用这些特征在沉积环境方面的指示意义，分析了东濮凹陷下第三系盐湖沉积的氧同位素。分析结果表明：尽管保存在碳酸盐中的氧同位素的值不能定量地反映原始氧同位素的值，不能够作为区分海陆相的标志，但它可以定性地探讨碳酸盐沉积时的沉积环境。通过对东濮凹陷下第三系盐湖沉积的氧同位素分析发现，从沙四上到沙一时期，除了沙三上的δ^18O有些突变外，基本上呈递增趋势。这反映出，从沙四上到沙一时期该区的气候逐渐向干早过渡；沙四上到沙三上一段δ＾18Ｏ明显比沙一和沙二上伯低，说明在沙四上到沙三上时期，该沉积区的蒸发作用还不是很显著，而另一方面也说明在由沙三上向沙二上过渡时，该区可能存在一次气候突变，使得沙二上和沙一时期的蒸发量远大于降雨量，δ^18O的值也因此迅速增大。同时，也做了碳酸盐同位素系数Z值的研究，其揭示的沉积环境特征与氧同位素基本相同。     

黄海北部降水中氟的浓度变化

1988～1992年连续采集了黄海西北部的大气降水,分析样品中的氟而得到的80多个数据显示出大气降水中氟的平均浓度低于中国北方主要河流的氟平均浓度。在冬季,氟的浓度较其他季节高,这可能和降雨量减少以及人为因素等密切相关。目前还难以估算出人为因素对氟在降水中化学行为的影响程度,但数据显示出人口密集地区降水中氟的浓度明显高于人口稀疏的自然地带。     

A STUDY ON MICROBIAL DEGRADATION OF OIL POLLUTANTS IN THE MARINE ENVIRONMENT: DECRADATION OF CRUDE OIL AND DIESEL OIL

Monthly collected water samples from two different stations in the Xiamen Harbor in one whole year were analysed for crude oil and diesel oil degradation by nature microbe flora. The results indicate that the difference between degradation rates of the two stations is related to the material type, temperature, oil degradation bacteria counts of the environment and season. The degradation velocity of diesel and crude oil in seawater is influenced by microbial degradation time. The calculated degradation velocity of crude oil and diesel oil by natural microbe flora in Xiamen Harbor sea areas based on the measured degradation rates were 0.02-0.19g/d·m2and0.004-0.61 g/d·m2 respectively. This provides, to a certain extent, a scientific basis for preliminary evaluation of the oil pollutant purification capacity of the described sea areas.     

围隔实验中海洋浮游植物对石油烃污染物中正构烷烃的生物富集

本文应用海洋围隔生态实验研究了浮游植物对石油烃污染物生物富集动力学过程 ,提出了“水相差法”测定海洋浮游植物体内石油烃浓度 ,以及包括石油烃挥发和生物生长等影响因素的石油烃生物富集动力学模型 ,并利用非线性拟合技术得到了海洋浮游植物对 0 #柴油 WAF中正构烷烃的生物富集动力学参数 kup,kel和 BCFPOC,结果与 Kováts色谱保留指数具有很好的相关性 ,与利用生物分析平衡法测定的文献数据基本一致。本模型及实验方法简便可靠 ,可在现场实验中广泛应用 ,得到的动力学参数应用于多介质环境模型和生态动力学模型 ,用以研究石油烃污染物中正构烷烃在海洋环境中的迁移变化规律     

Dinoflagellate cysts in recent marine sediment from Guangxi, China

Total of 33 species of dinoflagellate cysts were discovered from surface sediment in the searegion of Guangxi, among them 12 cyst types (Diplopsalopsis sp.1, D. sp. 2, D. sp. 3, Cochlodinium sp., Protoperidinium sp. 1, P. sp. 2, P. compressum , Scrippsiella sp. 1, S. sp. 2, Alexandrium sp. 1, A. sp. 2, A. sp. 3) were first reported from the South China Sea. And one cyst type (Cochlodinium sp.) was first reported in the world. Scrippsiella trochoidea is the dominant species in this area, accounting for 45% of all the cysts. There are 2 cysts of toxic dinoflagellate (Alexandrium tamarensis and Gymnodinium catenatum). But there is no relationship between cyst number and grain size distribution.     

不同氮源对微小亚历山大藻生长和毒素产生的影响

通过尿素、氯化铵、酵母浸出粉和硝酸钠等氮源对微小亚历山大藻(Alexandrium minutum)生长及毒素产生的影响研究,分析了微小亚历山大藻对不同氮源利用状况的差异.结果表明,在氮饥饿条件下,加入硝酸钠和酵母浸出粉能显著促进微小亚历山大藻的生长;高浓度的氯化铵在加入后对微小亚历山大藻有一定的毒性效应,表现为生长停滞,但毒性效应在5 d后消失,并得到与添加硝酸钠及酵母浸出粉相似的增长速率0.21 d-1;添加尿素对微小亚历山大藻的生长没有显著促进作用.在四种氮源中,尿素对微小亚历山大藻毒素产生的刺激作用也最弱,在稳定期每个细胞藻细胞毒素含量维持在6.00~8.00 fmol;添加硝酸钠、氯化铵和酵母浸出粉的藻细胞在稳定期毒素含量分别达到11.85,12.86和14.64 fmol.硝酸钠和氯化铵刺激藻毒素产生的效果比酵母浸出粉更为直接.四种含氮营养盐对微小亚历山大藻毒素组成的影响都很小.     

黑鲷(Acanthopagrus schlegeli)肿瘤坏死因子α cDNA的克隆及特征分析

采用同源克隆的方法，从黑鲷中获得肿瘤坏死因子(TNFα)全长cDNA序列。该序列含1288个核苷酸，可编码253个氨基酸的TNF前体蛋白。它是一种跨膜蛋白，无糖基化位点和信号肽结构。黑鲷TNFα与其它鱼类的TNFα的相似性很高，占据进化上独立的分支；与哺乳类TNFα和TNFG源于共同的祖先。基因结构分析显示，该基因含有TNF家族pmfile和TNF家族的标签序列；在参与TNFα基因二硫键形成的两个半胱氨酸和TNFα三聚体形成的位点高度保守；空间结构模拟显示，它与哺乳类TNFα的空间结构相似，都是由两个β折叠片组成，每个折叠片包含5个反向平行的β链。表达研究结果表明，黑鲷TNFα在检测的各个组织中均为组成型表达，表现为在刺激与非刺激鱼体中，都可以检测到黑鲷TNFα的表达，但是其表达水平在不同组织中有很大差异。黑鲷TNFα在头肾、脾脏和鳃的表达量较高，而在心脏、肝脏、血液、肾脏和大脑中表达量较低。     

Genetic relationship between Neobenedenia girellae and N. melleni inferred from 28S rRNA sequences

The fragments of 350 bp in 28S rRNA from the closely related monogenea of trematoda, Neobenedenia girellae and N. melleni are obtained by polymerase chain reaction (PCR) amplified using a couple of special primers and then sequenced. The results show that the comparison of 28S rRNA sequences, with only a base varying in 337 bp accounting for 0.3% genetic difference, from the relative species N. girellae and N. melleni parasitized on the different fishes in different farms displays that they possess a very high genetic similarity of 99.7%, higher than that of 99.41% for the single species N. melleni sampled in different areas, and the intraspecific divergence of N.melleni is 0.59%. Meanwhile, the interspecific differences between the two Neobenedenia and three Benedenia (i.e., B. lutjani, B. rohdei and B. seriolae) range from 2.08% tol 1.73%. In addition, UPGMA and MP molecular phylogenetic trees are constructed and proved to be consistent with each other. Though the morphological characteristics and the results of genetic diversity for the two Neobenedenia show a high similarity, whether they belong to a single species or not are still undefined, and the more genes of them should be further investigated, in combination with the systematical and detailed morphological study.